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SME MS94-201
- A Novel Photoelastic Tactile Transducer For Robotics
- standard by Society of Manufacturing Engineers, 06/01/1994
- Publisher: SME
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IN THIS PAPER, A THEORETICAL ANALYSIS OF A NOVEL PHOTOELASTIC TACTILE TRANSDUCER IS PRESENTED. A 2-D OPTO-MECHANICAL MODEL OF THE TRANSDUCER IS USED TO CALCULATE THE LIGHT-INTENSITY DISTRIBUTION WHEN A FORCE PROFILE IS APPLIED. IN ORDER TO SOLVE THE TACTILE INVERSE PROBLEM, IT IS NECESSARY TO RECOVER THE PHASE-DELAY DISTRIBUTION FROM THE LIGHT-INTENSITY DISTRIBUTION. IN THE PAPER, AN ALGORITHM THAT RECOVERS THE PHASE-DELAY IS EXPLAINED IN DETAIL. FINALLY, A STUDY OF THE DYNAMIC RANGE OF THE SENSOR IS PRESENTED.
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